TW201815010A - Motor driving control apparatus and electrically assisted vehicle - Google Patents

Abstract

A motor driving control apparatus in the embodiment includes: a first controller configured to control powering and regeneration of a motor; a second controller configured to control the first controller; and assistant circuitry configured to activate the second controller in a stop state, when a counter electromotive force caused by the motor, which is rotated without control by the first controller, satisfies a predetermined condition, before a power-on instruction for the motor driving control apparatus is made or in a state where the power-on instruction for the motor driving control apparatus is not made.

Description

Motor drive control device and electric auxiliary vehicle

The invention relates to a motor drive control device and an electric auxiliary vehicle having the motor drive control device.

When using, for example, an electric-assisted bicycle as an electric-assisted bicycle, there are situations in which the rider starts to step forward without pressing the power switch on the operation panel of the electric-assisted bicycle. The pedal is heavier than usual, and he forgets to forget Turn on the power switch. In addition, the battery pack of an electric-assisted bicycle generally has a battery state monitoring function, which monitors the state of the battery. When abnormal states such as overdischarge, overcharge, overcurrent, and overheating are detected, output limit protection is appropriately applied. The battery status monitoring function may have an automatic shutdown function. That is, if there is a certain degree of unused period, the output of the battery pack is blocked and the shutdown state (also referred to as a power saving state) that stops the monitoring of the battery state is achieved. Thus, it is possible to avoid a situation in which, during a long period of non-use, the battery is discharged until it is discharged due to the discharge caused by the self-consumption of the battery condition monitoring function itself, and it must be recharged to some extent when it is used again. Furthermore, it is possible to prevent a situation in which characteristics are deteriorated or an abnormal state cannot be restored due to overdischarge of the battery. However, when the battery composition is in an off state, in the past, driving could not be assisted unless the battery pack was temporarily removed from the electric assist bicycle and installed in a charger connected to a commercial power source to restore the battery pack from the off state. In such a situation, there is a problem that the rider's man-hour is consumed. In addition, there is a technology for rectifying the back electromotive force generated by the rotation of the motor for the problem that when there is no remaining power in the battery of the electric assist bicycle, power cannot be supplied to electric components such as the headlights of the electric assist bicycle. And the voltage is transformed to supply power to the power element. In this technique, a state in which the battery has no remaining power is assumed, and therefore, problems as described above are not considered. [Prior Art Literature] [Patent Literature] [Patent Literature 1] Japanese Patent Laid-Open No. 2008-283786 [Patent Literature 2] Japanese Patent Laid-Open No. 2014-180208

[Problems to be Solved by the Invention] Therefore, an object of the present invention is to provide a technique for improving user convenience at the start of operation of a device equipped with a motor drive control device according to one aspect. [Technical means to solve the problem] The motor drive control device of the present invention includes: (A) a first control section that controls the power driving and recharging of the motor; (B) a second control section that controls the first control section; and (C) Auxiliary unit, in a state where the motor drive control device is not instructed to start operation, and when the back electromotive force of the motor that rotates not in accordance with the control of the first control unit satisfies certain conditions, the second control in the stopped state Ministry starts. [Effects of the Invention] According to one aspect, the convenience of the user is improved when the operation of the device equipped with the motor drive control device is started.

[Embodiment 1] Hereinafter, Give an example of an electric assisted bicycle as an example of an electric assisted vehicle, An embodiment of the present invention will be described. however, The applicable objects of the embodiment of the present invention are not limited to electric assist bicycles, It is also suitable for moving bodies (such as trolleys, wheelchair, Motor drive control devices such as elevators, etc. for moving motors.  The external view of an electric assist bicycle is shown in FIG. The electric assist bicycle 1 includes a motor drive control device 102, Battery pack 101, Torque sensor 103, Pedal rotation sensor 104, Motor 105, The operation panel 106 and the brake sensor 107. Furthermore, The electric assist bicycle 1 also has a headlight, Flywheel and transmission.  The battery pack 101 includes, for example, a lithium ion secondary battery, Lithium ion polymer secondary batteries, Ni-MH batteries, etc. Power is supplied to the motor 105 via the motor drive control device 102, At the time of recharging, charging is also performed by the motor driving control device 102 through the recharging force from the motor 105.  The torque sensor 103 is provided on a wheel mounted on a crankshaft, Detecting the pedaling force of the rider on the pedal, The detection result is output to the motor drive control device 102. also, The pedal rotation sensor 104 is provided on the wheel mounted on the crankshaft in the same way as the torque sensor 103. A pulse signal corresponding to the rotation is output to the motor drive control device 102.  The motor 105 is, for example, a well-known three-phase brushless motor, For example, it is attached to the front wheel of the electric assist bicycle 1. The motor 105 rotates the front wheels, The rotor is connected to the front wheel directly or via a speed reducer or the like so that the rotor rotates in response to the rotation of the front wheel. and then, The motor 105 includes a rotation sensor such as a Hall element, The rotation information of the rotor (such as a Hall signal) is output to the motor drive control device 102.  The motor drive control device 102 is based on a rotation sensor from a motor 105, The torque sensor 103, the pedal rotation sensor 104, and the like perform specific calculations. Control the drive of the motor 105, The recharge control of the motor 105 is also performed.  The operation panel 106 receives, for example, an instruction input regarding the presence or absence of assistance from the user (for example, turning on and off the power switch), Accepts inputs that are expected to be comparable when assisted, The instruction input and the like are output to the motor drive control device 102. also, The operation panel 106 also displays a result calculated by the motor drive control device 102, that is, a travel distance, Travel time, burn calories, The function of data such as recharge amount. also, The operation panel 106 may also include an LED (Light Emitting Diode, Light-emitting diode). thus, Inform the rider of, for example, the charging level of the battery pack 101 or the on / off state, Modes corresponding to desired assistance, etc.  The brake sensor 107 detects a brake operation of a rider, A signal regarding the braking operation is output to the motor drive control device 102.  FIG. 2A shows a configuration example of the motor drive control device 102 and the battery pack 101 in this embodiment. FIG. 2A shows a state where the battery pack 101 and the motor drive control device 102 are connected, The motor driving control device 102 is connected to a front lamp 108, Torque sensor 103, Operation panel 106, The brake sensor 107, the motor 105, and the like.  The battery pack 101 of this embodiment includes a battery management system 1010 and a battery unit 1015 called a BMS (Battery Management System). The battery management system 1010 includes a sensor 1011 and a control unit 1012.  The sensor 1011 is used to observe the temperature of the battery unit 1015 or a switch (not shown), A sensor for the internal state of the battery pack 101 such as the voltage of the entire battery unit 1015 or the voltage of each unit included in the battery unit 1015 The control unit 1012 is implemented by, for example, a microprocessor executing a specific program, With battery status monitoring function, Charge and discharge control functions, Communication function with the motor drive control device 102 and the like.  The battery pack 101 is connected to the power supply and charging parts a, The communication connection portion b and the ground connection portion c are connected to the motor drive control device 102. Furthermore, In addition, a connection portion for outputting the state of the battery pack 101 may be provided in some cases. also, There may be a plurality of communication connection portions b.  also, The motor drive control device 102 of this embodiment includes a Field Effect Transistor (FET). (Field effect transistor) bridge circuit from S11 to S16, FET_S17, Motor drive control unit 1023, Diodes D1 to D3, Capacitors C1 and C2 Switches S1 to S3, FET_SW1 DC (direct current, (DC) / DC converter 1021 The control system 1022 and the start determination circuit 1024. Furthermore, FET is also a kind of switch.  The motor drive control unit 1023 responds to an instruction from the control system 1022, Control the switching of FET_S11 to S17. E.g, When power driving or recharging the driving motor 105, Make FET_S17 on, FET_S11 to S16 are turned on or off in a specific pattern. Furthermore, The motor drive control unit 1023 receives power supply from the DC / DC converter 1021.  DC / DC converter 1021 converts the output voltage of battery pack 101 into operation panel 106, The voltage used by the headlight 108 and the control system 1022, And output to the operation panel 106, Headlight 108 and control system 1022. therefore, The DC / DC converter 1021 is connected to the connection part a for power supply and charging via the FET_SW1. Furthermore, The drain of FET_SW1 is connected to the DC / DC converter 1021. The source of FET_SW1 is connected to the connection part a for power supply and charging, The gate of FET_SW1 is connected to one of the switches S1 to S3. also, A capacitor C2 is connected between the line connected to the connection portion a and the line connected to the connection portion c.  Switches S1 to S3 are connected in parallel, If either is connected, Then FET_SW1 is turned on, The DC / DC converter 1021 is supplied with power from the battery pack 101. Typically, When the rider presses the power switch in the operation panel 106 in order to operate the motor drive control device 102, To switch on S1, Supply power from the battery pack 101 to the DC / DC converter 1021, Further, power is supplied to the control system 1022. thus, The control system 1022 is activated and turns on the switch S2. Switch S1 is turned on only while the power switch is pressed, During this period, the control system 1022 is activated. During startup, The control system 1022 keeps the switch S2 on.  In this embodiment, In addition to this constitution, It also has a switch S3 and an auxiliary unit 1028 as constituent elements for starting the auxiliary control system 1022. The auxiliary unit 1028 includes a start determination circuit 1024, The capacitor C1 and the diodes D1 to D3. An example where diodes D1 to D3 are provided is shown in FIG. 2A. It can be either or both. The greater the number of diodes, The more easily the output voltage stabilizes.  The anode of diode D1 is connected to the connection between the source of FET_S11 and the drain of FET_S12. The anode of diode D2 is connected to the connection between the source of FET_S13 and the drain of FET_S14. The anode of diode D3 is connected to the connection between the source of FET_S15 and the drain of FET_S16. The cathodes of the diodes D1 to D3 are connected to one end of the capacitor C1 and the input portion of the startup judgment circuit 1024. The other end of the capacitor C1 is connected to a connection portion c for grounding. thus, Since the power switch is not turned on, And in a state where FET_S11 to S16 are not used for power driving or recharging driving, Rectifying the voltage of the back electromotive force generated by the rotation of the motor 105, The rectified voltage is input to the start determination circuit 1024.  Since a back electromotive force is generated which is proportional to the number of rotations of the motor 105, Therefore, as long as a certain number of rotations is reached, Will generate a voltage above a certain voltage, therefore, The startup determination circuit 1024 determines whether or not it has reached a specific voltage or higher.  The start determination circuit 1024 is connected to the control system 1022, When the control system 1022 is not activated, If the rectified voltage is above a certain voltage, Then switch S3 is turned on. thus, FET_SW1 is on, therefore, The DC / DC converter 1021 is usually supplied with power from the battery pack 101, The control system 1022 is activated. If the control system 1022 is activated, As mentioned above, Switch S2 is turned on. therefore, The control system 1022 instructs the start determination circuit 1024 to turn off the switch S3. And the start determination circuit 1024 turns off the switch S3 according to the instruction.  A circuit example of the start determination circuit 1024 is shown in FIG. 2B. The start determination circuit 1024 has a comparator 2401 Power Vref, The NOT circuit 2402 and the AND circuit 2403. The positive input terminal of the comparator 2401 is connected to the cathodes of the diodes D1 to D3, The negative input terminal is connected to the positive pole of the power supply Vref. The negative terminal of the power supply Vref is grounded. which is, The comparator 2401 determines whether the voltage of the back electromotive force of the motor 105 is above Vref, If the back-EMF voltage of the motor 105 is above Vref, Then output high level, If the back-EMF voltage of the motor 105 is less than Vref, The low level is output. The input terminal of the NOT circuit 2402 is connected to the control system 1022. If the control system 1022 is starting, it outputs a high level. If it is stopped, the low level is output. thus, If the NOT circuit 2402 is starting, it outputs a low level. If it is stopped, the high level is output. The first input terminal of the AND circuit 2403 is connected to the output terminal of the NOT circuit 2402, The second input terminal is connected to the output terminal of the comparator 2401. which is, The AND circuit 2403 is when the control system 1022 is stopped and the voltage of the back electromotive force of the motor 105 is Vref or more. The high level is output and the switch S3 is turned on. on the other hand, AND circuit 2403 when the control system 1022 is starting or when the voltage of the back electromotive force of the motor 105 is less than Vref, The low level is output and the switch S3 is turned off. Furthermore, Comparator 2401 can also be used The NOT circuit 2402 and the AND circuit 2403 are composed of passive circuit elements. It can also be constructed using a circuit that uses the back electromotive force of the motor 105, It is also possible to prepare auxiliary power sources other than the battery pack 101 in advance, A circuit configuration is adopted in which power is supplied from the auxiliary power source. Depending on the situation, It may be configured as a circuit that receives power supply from the battery pack 101.  The control system 1022 receives power supply from the DC / DC converter 1021. also, The control system 1022 is connected to the motor drive control section 1023, The motor drive control unit 1023 is instructed to turn FET_S11 to S16 on or off or to turn FET_S17 on and off in a specific pattern. and then, Control system 1022 and torque sensor 103, Pedal rotation sensor 104, Operation panel 106, Brake sensor 107, Connection of the rotation sensor of the motor 105, And communicate with the battery management system 1010 of the battery pack 101 via the communication connection part b, Based on the status of battery pack 101, The operation of the operation panel 106 and the data obtained by each sensor, The entire motor drive control device 102 is controlled.  The control system 1022 has a communication section 221 for communicating with the control section 1012 of the battery management system 1010 in the battery pack 101, And a control section 222 that performs various controls in cooperation with the communication section 221. The control unit 222 has, for example, a microprocessor 2221 that executes a specific program, And a memory 2222 (including RAM (Random Access Memory, Random Access Memory) and ROM (Read Only Memory, Read-only memory), etc.). which is, The control function of this embodiment mode is realized by the microprocessor 2221 executing a specific program.  Secondly, The operation flow of the configuration shown in FIG. 2A will be described in detail using FIG. 3.  E.g, When the rider starts to step on the pedal of the electric assist bicycle 1 without pressing the power switch of the operation panel 106, The motor 105 mounted on the front wheels rotates. Because the power switch on the operation panel 106 is not pressed, Therefore, the motor drive control device 102 including the control system 1022 is not operated. which is, FET_SW1 and S17 are off, The switches S1 to S3 are also turned off. Because the motor drive control unit 1023 is also not activated, and so, FET_S11 to S16 remain in a high impedance state.  In this state, Generates back-EMF corresponding to the rotation of the motor 105 (Figure 3: Step S301), With a rectifier circuit including diodes D1 to D3 and capacitor C1, Rectifies the back-EMF voltage.  As a result, The startup determination circuit 1024 determines whether the rectified voltage has reached a level at which the switch S3 is turned on (step S303). If it is a fixed number or more, It can be considered that the rider forgot to press the power switch while driving, Due to the ability to start the microprocessor 2221, Therefore, it is judged whether or not a voltage corresponding to a fixed number of rotations has been reached.  When the rectified voltage does not reach the level at which the switch S3 is turned on, Returning to step S301, The voltage is continuously checked until the rectified voltage reaches a level at which the switch S3 is turned on. Furthermore, In this state, When the rider has pressed the power switch on the operation panel 106, Control system 1022 starts as usual, The inhibit start determination circuit 1024 turns on the switch S3.  on the other hand, When the rectified voltage has reached the level at which switch S3 should be turned on, The start determination circuit 1024 turns on the switch S3, Then, the control system 1022 is started (step S305). More specifically, If the start judgment circuit 1024 turns on the switch S3, Then FET_SW1 is turned on, If the battery pack 101 is not in the off state, Then, the DC / DC converter 1021 is supplied with power from the battery pack 101. The DC / DC converter 1021 converts the output voltage of the battery pack 101 into a voltage used by the control system 1022 and the like and outputs it to the control system 1022. As a result, The control system 1022 is activated.  Furthermore, If the battery pack 101 is in an off state, The voltage in the connection part a for power supply and charging is maintained at a low level, therefore, Control system 1022 fails to start, Processing ends.  When not in the off state, The control system 1022 starts, The control system 1022 turns on the switch S2. also, The control system 1022 causes the start determination circuit 1024 to turn off the switch S3.  and then, The control unit 222 of the control system 1022 uses the communication unit 221 to communicate with the control unit 1012 of the battery management system 1010 in the battery pack 101 via the communication connection unit b. The state of the battery pack 101 is confirmed (step S307). E.g, According to a specific agreement, Get the temperature of battery unit 1015, Charging level, Voltage status of battery unit 1015, Use history, Action mode and other information. Furthermore, It is also possible to use a connection part other than the communication part b, To get whether it is off, Information on whether or not the battery pack 101 can be charged. Such information is also information output by the control unit 1012 of the battery management system 1010 in the battery pack 101.  then, The control unit 222 of the control system 1022 is based on the state of the battery pack 101 obtained through communication or the like, It is determined whether power can be supplied from the battery pack 101 (step S309).  E.g, It is determined whether it is a charging level capable of continuously operating the control system 1022. also, It is also possible to determine whether power can be supplied based on the state of the battery pack 101 such as temperature.  If it is determined that the power supply from the battery pack 101 cannot be performed, The control system 1022 stops the operation (step S315). Furthermore, Switch S2 is turned off and FET_SW1 is turned off.  on the other hand, When it is determined that power supply from the battery pack 101 is possible, The control unit 222 of the control system 1022 starts to supply power to the operation panel 106 (step S311). thus, LED and other display on the operation panel 106, The rider can recognize that it has started automatically.  also, The control unit 222 of the control system 1022 performs normal control (step S313). More specifically, If charging can be performed according to the state of the battery pack 101, Then, the motor drive control unit 1023 performs appropriate recharge driving at an appropriate timing. also, If power driving is possible according to the state of the battery pack 101, Then, the motor drive control unit 1023 performs appropriate power driving at an appropriate timing.  E.g, If you can charge and the charge level is low, Then first implement the recharge drive to increase the charging level, If a certain level of charging is reached, It is also powered. on the other hand, If the charging level is above a certain level, According to the driving state, power driving and recharging driving are performed while switching.  By adopting this constitution, Even if the rider forgets to instruct the motor drive control device 102 to start the operation, Because the motor drive control device 102 automatically starts to operate, Therefore, the convenience of the rider is improved.  also, If the motor drive control device 102 cannot be continuously operated due to the state of the battery pack 101, No power is supplied to the operation panel 106, therefore, The rider does not know whether the control system 1022 is activated. thus, No extra worries for the rider. Furthermore, There are also cases where the rider recognizes this state and deliberately does not press the power switch. therefore, In this regard, It is also appropriate to not supply power to the operation panel 106.  However, when moving to step S315, It can also cause the operation panel 106 to display the reason why it cannot be started automatically or cannot be started automatically. Get the rider's attention. also, It can also be set in advance in the control system 1022 to allow automatic startup. The setting is confirmed in step S309, for example. then, If you have set a setting that does not allow automatic startup, Go to step S315, If the setting to allow automatic start has been made, Determine other conditions of step S309. Furthermore, When auto start is not allowed, The control system 1022 outputs a high level to the start determination circuit 1024 (FIG. 2B). As a result, As in the case where the control system 1022 is activated, The switch S3 is turned off. thus, The control system 1022 does not start automatically and continues to operate.  [Embodiment 2] In this embodiment, According to various conditions of the battery pack 101, Finely control the activation of the motor drive control device 102, Charging of battery pack 101, Recharge drive of motor 105, Power-driven etc.  The configurations of the motor drive control device 102b and the battery pack 101 of this embodiment are shown in Fig. 4. Furthermore, For the same constituent elements as the motor drive control device 102 of the first embodiment shown in FIG. 2A, The same reference number is attached.  The configuration of the battery pack 101 of this embodiment is the same as that of the first embodiment. Therefore, description is omitted.  The motor drive control device 102b of this embodiment has a bridge circuit including FET_S11 to S16, FET_S17, Motor drive control unit 1023, Diodes D1 to D4, Capacitors C1 and C2 Switches S1 and S2 FET_SW1 and SW2 DC / DC converter 1021 And control system 1022b.  The output terminals of the diodes D1 to D3 as the rectifier circuit and the capacitor C1 are connected to the input terminal of the DC / DC converter 1021. The drain of FET_SW1 is connected to the input terminal of DC / DC converter 1021 in the first embodiment. Connected to the anode of diode D4 in this embodiment, The cathode of the diode D4 is connected to the input terminal of the DC / DC converter 1021. which is, A diode D4 is provided in such a manner that the output of the rectifier circuit does not flow back to the battery pack 101 through the FET_SW1.  also, The control system 1022b is also connected to a line connected to the connection part a for power supply and charging, Can control the system 1022b itself, It is detected according to the output voltage of the battery pack 101 whether it is off.  also, The source of FET_SW2 is connected to the output of DC / DC converter 1021, The drain is connected to a line connected to the connection part a for power supply and charging, The gate is connected to the control system 1022b itself. which is, FET_SW2 can be used to control whether or not the output power of the DC / DC converter 1021 is used to charge the battery pack 101.  The operations of the motor drive control unit 1023 and the FETs S11 to S17 are the same as those of the first embodiment.  The control system 1022b receives power supply from the DC / DC converter 1021. also, The control system 1022b is connected to the motor drive control unit 1023, The motor drive control unit 1023 is instructed to turn on or off the FET_S11 to S16 or the on or off of the FET_S17 in a specific pattern. and then, Control system 1022b and torque sensor 103, Pedal rotation sensor 104, Operation panel 106, Brake sensor 107, Connection of the rotation sensor of the motor 105, Further communicate with the battery management system 1010 of the battery pack 101 via the communication connection part b, Based on the status of battery pack 101, The operation of the operation panel 106 and the data obtained by each sensor, The entire motor drive control device 102b is controlled.  The control system 1022b has a communication section 221 for communicating with the control section 1012 of the battery management system 1010 in the battery pack 101, A control unit 222b that performs various controls in cooperation with the communication unit 221, And an auxiliary circuit 223 to assist the start of the control system 1022b. The control unit 222b includes, for example, a microprocessor 2221 that executes a specific program. And a memory 2222 (including RAM, ROM, etc.) that records the specific program or stores the data being processed. which is, The microprocessor 2221 executes a specific program, Together with the auxiliary circuit 223, the control function of this embodiment is realized.  The auxiliary unit for activating the auxiliary control system 1022b of this embodiment includes diodes D1 to D4, Capacitor C1 DC / DC converter 1021 And the auxiliary circuit 223 of the control system 1022b.  Secondly, Using FIGS. 5A and 5B, The operation flow of the configuration shown in FIG. 4 will be described in detail.  As in the first embodiment, When the rider starts to step on the pedal of the electric assist bicycle 1 without pressing the power switch of the operation panel 106, The motor 105 mounted on the front wheels rotates. Because the power switch on the operation panel 106 is not pressed, Therefore, the motor drive control device 102b including the control system 1022b does not operate. which is, FET_SW1 and S17 are off, Switches S1 and S2 are also turned off. Because the motor drive control unit 1023 is also not activated, Therefore, FET_S11 to S16 are maintained in a high impedance state. Furthermore, In the initial state, FET_SW1 and SW2 are turned off.  In this state, Generate a back-EMF corresponding to the rotation of the motor 105 (FIG. 5A: Step S501), The voltage of the back electromotive force is rectified by a rectifying circuit including the diodes D1 to D3 and the capacitor C1.  When the number of rotations of the motor 105 increases, When the rectified voltage rises until the voltage at which the DC / DC converter 1021 can operate, The DC / DC converter 1021 starts operation (step S503).  If the DC / DC converter 1021 starts to operate, The voltage used by the control system 1022b and the like is output to the control system 1022b. As a result, The control system 1022b is started (step S505). Furthermore, Before step S505, For example, the auxiliary circuit 223 confirms the stability of the output voltage of the DC / DC converter 1021 and then activates the control unit 222b and the like. In the following description, The premise is that the output voltage of the DC / DC converter 1021 is stable, If the number of rotations of the motor 105 decreases and the operation of the DC / DC converter 1021 stops, Then the action stops at this stage. also, At this stage, The auxiliary circuit 223 and the like can also determine whether or not an appropriate battery pack 101 is connected based on signals from connection parts other than the connection parts a to c. If the proper battery pack 101 is not connected, Then, the control section 222b and the like of the control system 1022b are not activated.  in this way, By using a DC / DC converter installed in a conventional motor drive control device, Instead, the control system 1022b can be automatically started.  and then, At this stage, The control unit 222b may also confirm whether a mode for prohibiting automatic startup has been set in, for example, the memory 2222, If you set the mode to prevent auto start, It stops without performing subsequent actions.  5B via terminal A, The control part 222b of the control system 1022b is based on the voltage of the connection part a for power supply and charging, for example, It is determined whether the battery pack 101 is in an off state (step S507). Except for the voltage of the connection part a for power supply and charging, In the case of a battery pack 101 having a connection portion or the like indicating an off state, Judgment can also be made based on a signal from the connecting portion.  When the battery pack 101 is not in the off state, Go to step S511. on the other hand, When the battery pack 101 is in the off state, The control unit 222b turns on the FET_SW2, Thus, the output power of the DC / DC converter 1021 is supplied to the battery pack 101, The off state of the battery pack 101 is released (step S509).  thus, It is possible to eliminate the time required for the rider to remove the battery pack 101 from the electric assist bicycle 1 and install the battery pack 101 on a charger connected to a commercial power source to release the shutdown state.  If it is off, The control unit 1012 of the battery management system 1010 in the battery pack 101 also stops. therefore, The control system 1022b cannot obtain status information from the battery pack 101. in this way, If the shutdown state is released, Then the control unit 1012 can collect various status information from the sensor 1011, The control unit 222b of the control system 1022b can obtain the status information of the battery pack 101.  therefore, The control unit 222b uses the communication unit 221 to communicate with the control unit 1012 of the battery pack 101 via the communication connection unit b, The state of the battery pack 101 is confirmed (step S511). This step is the same as step S307 in the first embodiment. E.g, According to a specific agreement, Get the temperature of battery unit 1015, Charging level, Voltage status of battery unit 1015, Use history, Action mode and other information. Furthermore, It is also possible to use a connection part other than the communication part b, Further, information such as whether or not the battery pack 101 can be charged is obtained. Such information is also information output by the control unit 1012 of the battery management system 1010 in the battery pack 101.  then, The control unit 222b determines whether the charging level of the battery pack 101 has reached a specific level (step S513). The specific level is a level at which the battery pack 101 can be charged using the recharge drive. When performing a recharge drive, The control system 1022b also operates, The motor drive control unit 1023 and the like also operate, therefore, The power consumption of the motor drive control device 102b increases. This is because the power accumulated in the battery pack 101 may be exhausted if the charging level is too low.  When the charging level of the battery pack 101 does not reach a specific level, The control unit 222b charges the battery pack 101 by using the output of the DC / DC converter 1021 (step S515). Furthermore, If it is not off, Because FET_SW2 is not turned on, So turn on FET_SW2 at this stage, The output power of the DC / DC converter 1021 is supplied to the battery pack 101 through the connection part a for power supply and charging.  but, That is, it is convenient to charge by the output of the DC / DC converter 1021 in step S515, The control unit 222b also determines whether or not charging can be continued (step S517). For example, periodically measure the voltage of the connection part a for power supply and charging, When the voltage does not rise after a fixed time, Determine that the battery pack 101 is abnormal, It is judged that charging cannot be continued. also, For example, the control unit 222b periodically communicates with the control unit 1012 of the battery pack 101 to check the status. When certain anomalies are detected, It is similarly judged that charging cannot be continued. Furthermore, Can also measure the charging current, When no charging current is detected, It is similarly judged that charging is impossible.  When it is determined that charging can continue, Return to step S513. on the other hand, When it is determined that charging cannot be continued, This completes the operation (step S519). The reason is that the battery pack 101 is used improperly.  In step S513, When it is judged that the charging level of the battery pack 101 has reached a specific level, The control unit 222b starts supplying power to the operation panel 106 (step S521). thus, LED and other display on the operation panel 106, The rider can recognize that it has started automatically.  also, Because of the recharge drive, Therefore, the control section 222b turns off the FET_SW2, The charging using the output of the DC / DC converter 1021 is stopped (step S523).  also, The switch S2 is turned on by the control section 222b of the control system 1022b, While turning FET_SW1 on, Start power supply from battery pack 101, Thus, the normal operation is started (step S525).  More specifically, If it can be charged according to driving conditions, Then, the motor drive control unit 1023 performs appropriate recharging driving. also, If power driving is possible according to the driving state and the state of the battery pack 101, Then, the motor drive control unit 1023 performs appropriate power driving at an appropriate timing.  E.g, If the charging level is low for power drive, Then the recharge drive is implemented according to the driving state to improve the charging level, If it reaches the charging level that can also be powered by power, It is also powered. on the other hand, If the charging level is above the charging level that can also be driven by power, Then, the power driving and the recharging driving are switched according to the running state.  By adopting this constitution, Even if the rider forgets to instruct the motor drive control device 102b to start the operation, Also because the motor drive control device 102b automatically starts to operate, The convenience of the rider is improved.  also, When the charging level is low for the recharge drive, It is also possible to charge using the back-EMF of the motor, thus, In this respect, it is also possible to omit charging using a charger connected to a commercial power source, And can reduce the rider's man-hours.  and then, According to the state of the battery pack 101, After becoming a charging level that can be recharged with recharge, The operation panel 106 is powered. thus, The rider can be notified that the motor drive control device 102b can be controlled to some extent.  also, It can also cope with the situation where charging cannot be continued.  The embodiments of the present invention have been described above. However, the present invention is not limited to this. E.g, The embodiment in which the battery pack 101 is different from the motor drive control device 102 or 102b has been described. However, this embodiment also has a part effective for such an integrated device.  also, The configuration of the control systems 1022 and 1022b is an example. It is not necessary to use a dedicated circuit to implement the functions described above in order to use a microprocessor to execute a specific program.  and then, As explained above, The interface between the battery pack 101 and the motor drive control device 102 or 102b has various forms, There are also various types of data that the motor drive control device 102 or 102b can acquire. but, As long as the information used to make the judgment as described above is available.  also, For the action flow described above, Various changes are possible. E.g, The power supply to the operation panel 106 may be started at a later time. E.g, It is also possible to start power supply at the timing such as when power is driven. also, The technical elements described in Embodiments 1 and 2 may be arbitrarily selected or arbitrarily selected and combined. and then, The technical elements described in Embodiments 1 and 2 may be arbitrarily deleted according to the purpose.  and then, Regarding the auxiliary circuit 223 of the second embodiment, It may further have a part of the function performed by the control unit 222b.  If the embodiments of the present invention described above are summarized, It becomes the following.  The motor drive control device of the embodiment has: (A) the first control unit, Its control motor drives and recharges; (B) the second control unit, It controls the first control section; And (C) the auxiliary department, When the motor drive control device has not completed the operation start instruction (for example, before the operation start instruction is completed), When the back electromotive force of the motor that is rotated (for example, by external force) without being controlled by the first control unit meets certain conditions (such as the condition that a back electromotive force of a certain level is detected, When a back electromotive force above a certain level is detected and conditions satisfying other conditions, etc.), The second control unit in the stopped state is activated.  As a result, Starts automatically even when the user does not press the power switch, therefore, Improved user convenience.  Furthermore, The auxiliary unit described above can also use the back electromotive force of a motor that does not rotate under the control of the first control unit, Or by using electric power from a power storage device that is supplied according to the back electromotive force of a motor that does not rotate under the control of the first control unit, The second control unit is activated. If the back electromotive force of a motor rotating without control by the first control unit is rectified and converted into a proper voltage It can also be used.  also, The second control unit described above may also: (b1), Check the status of the power storage device connected to the motor drive control device, Determine whether it is necessary to use the back-EMF power supply of the motor that does not rotate under the control of the first control unit; (b2), If it is necessary to use the back electromotive force of a motor rotating without control by the first control unit, Then, the power storage device is supplied with electric power using a back electromotive force of a motor that rotates without being controlled by the first control unit. thus, The power storage device becomes a power-saving state, It is also possible to cope with a situation where the charging level of the power storage device is very low.  also, The second control unit described above may also: (b3), Determine whether the power storage device connected to the motor drive control device is in a power-saving state; (b4), When the power storage device is in a power saving state, The power storage device is supplied with electric power using a back electromotive force of a motor that rotates without being controlled by the first control unit. thus, Automatically perform automatic recovery from the off state (or release of the off state), therefore, Can reduce user's man-hours.  and then, The second control unit described above may also: (b5), Check the status of the power storage device connected to the motor drive control device, Determine whether the charging level of the power storage device is below a certain level, (b6), When the charging level of the power storage device is below a certain level, The power storage device is charged using a back electromotive force of a motor that rotates without being controlled by the first control unit. in this way, It can also cope with very low charging levels. Furthermore, Sometimes the status of the power storage device is also confirmed by communication. It may also be confirmed by the output voltage of the output voltage terminal of the power storage device.  also, The second control unit described above may also: (b7), Determine whether the power storage device connected to the motor drive control device can be charged using the recharge controlled by the first control unit; (b8) In a case where the power storage device can be charged using a recharge controlled by the first control unit, Stop using the back-EMF charging or power supply of the motor that does not rotate under the control of the first control unit. E.g, It is possible to appropriately switch the charging using the back electromotive force of the motor that is not rotating under the control of the first control unit and the charging using the recharging.  and then, The second control unit described above may also: (b9), Determine whether the power storage device connected to the motor drive control device can be charged using the recharge controlled by the first control unit; (b10) In a case where the power storage device can be charged using a recharge controlled by the first control unit, Started the first control unit's control of recharge. thus, Perform effective charging.  also, The second control unit described above may also (b11): After the power storage device can be charged using the recharging controlled by the first control unit or after the second control unit is started, Started supplying power to the operation panel connected to the motor drive control device. At the stage where the motor drive control device is activated and some degree of control is possible, Start to power the operation panel, thus, The user can recognize the activation of the motor drive control device at this stage.  and then, The second control unit described above may also: (b12), Check the status of the power storage device connected to the motor drive control device, Judging whether power can be supplied from the power storage device to the second control unit; (b13), If the power cannot be supplied from the power storage device to the second control unit, Then stop their actions. The reason is that Depending on the state of the power storage device, there may be cases where it cannot continue to operate. Use this to respond to the situation.  and then, The second control unit described above may also: (b14), Confirm whether the auxiliary department has been allowed to start; (b15), If the auxiliary department is not allowed to start, Then stop their actions. The reason is that There are situations where the user does not want to start automatically.  Furthermore, The auxiliary unit described above may also have: (c1) the rectifying section, Rectify the voltage of the back electromotive force of the motor that does not rotate under the control of the first control unit; And (c2) a circuit for turning on the first switch, When the voltage of the first switch rectified by the rectifying section is equal to or higher than a specific voltage, It is used to supply power to the second control unit from the power storage device.  Such a structure is not limited to the matters described in the embodiment, There may be cases in which other components that perform substantially the same effect are implemented.

1‧‧‧ Electric assisted bicycle

101‧‧‧ battery pack

102‧‧‧Motor drive control device

102b‧‧‧Motor drive control device

103‧‧‧Torque sensors, etc.

104‧‧‧ pedal rotation sensor

105‧‧‧Motor

106‧‧‧ operation panel

107‧‧‧Brake sensor

108‧‧‧ headlight

221‧‧‧ Ministry of Communications

222‧‧‧Control Department

1010‧‧‧Battery Management System

1011‧‧‧Sensor

1012‧‧‧Control Department

1015‧‧‧Battery unit

1021‧‧‧DC / DC converter

1022‧‧‧Control System

1022b‧‧‧Control System

1023‧‧‧Motor drive control unit

1024‧‧‧Start judgment circuit

1028‧‧‧Auxiliary Department

2221‧‧‧Microprocessor

2222‧‧‧Memory

2401‧‧‧ Comparator

2402‧‧‧NOT circuit

2403‧‧‧AND circuit

A‧‧‧Terminal

a‧‧‧Connecting Department

b‧‧‧Connecting Department

c‧‧‧Connecting Department

C1‧‧‧Capacitor

C2‧‧‧Capacitor

D1‧‧‧diode

D2‧‧‧ Diode

D3‧‧‧ Diode

D4‧‧‧ Diode

S1‧‧‧Switch

S2‧‧‧Switch

S3‧‧‧ Switch

S11‧‧‧FET

S12‧‧‧FET

S13‧‧‧FET

S14‧‧‧FET

S15‧‧‧FET

S16‧‧‧FET

S17‧‧‧FET

S301‧‧‧step

S303‧‧‧step

S305‧‧‧step

S307‧‧‧step

S309‧‧‧step

S311‧‧‧step

S313‧‧‧step

S315‧‧‧step

S501‧‧‧step

S503‧‧‧step

S505‧‧‧step

S507‧‧‧step

S509‧‧‧step

S511‧‧‧step

S513‧‧‧step

S515‧‧‧step

S517‧‧‧step

S519‧‧‧step

S521‧‧‧step

S523‧‧‧step

S525‧‧‧step

Vref‧‧‧ Power

FIG. 1 is an external view of an electric auxiliary vehicle according to the embodiment. Fig. 2A is a functional block diagram of a battery pack and a motor drive control device according to the first embodiment. FIG. 2B is a diagram showing a circuit example of a start-up judging circuit. Fig. 3 is a diagram showing an operation flow of the first embodiment. Fig. 4 is a functional block diagram of a battery pack and a motor drive control device according to a second embodiment. Fig. 5A is a diagram showing an operation flow of the second embodiment. Fig. 5B is a diagram showing an operation flow of the second embodiment.

Claims (15)

A motor drive control device includes: a first control section that controls power driving and recharging of a motor; a second control section that controls the first control section; and an auxiliary section that does not perform the motor drive control device. In the state where the operation start is instructed, when the back electromotive force of the motor rotating without controlling by the first control unit satisfies a specific condition, the second control unit in the stopped state is started. For example, the motor drive control device of claim 1, wherein the auxiliary unit is a back electromotive force of the motor that does not rotate according to the control of the first control unit, or uses the motor that rotates according to the control of the first control unit. The power from the power storage device supplied by the back electromotive force activates the second control unit. For example, the motor drive control device of claim 1, wherein the second control unit confirms the state of the power storage device connected to the motor drive control device, and determines whether it is necessary to use the motor that does not rotate according to the control of the first control unit. For the power supply of electromotive force, if it is necessary to use the back electromotive force of the motor that rotates without control by the first control unit, the power storage device uses the power of the motor that rotates without control by the first control unit. Power supply from electromotive force. For example, the motor drive control device of claim 1, wherein the second control unit determines whether the power storage device connected to the motor drive control device is in a power-saving state, and when the power storage device is in a power-saving state, the power storage device is Electric power is supplied using the back electromotive force of the motor that is rotated without being controlled by the first control unit. For example, the motor drive control device according to claim 1, wherein the second control unit confirms the state of the power storage device connected to the motor drive control device, and determines whether the charge level of the power storage device is below a specific level. When the charging level is below a specific level, the power storage device is charged using the back electromotive force of the motor that is rotated without being controlled by the first control unit. For example, the motor drive control device of claim 3, wherein the second control unit determines whether the power storage device connected to the motor drive control device can be charged using the recharge controlled by the first control unit. When the power storage device can be charged using the recharge controlled by the first control unit, the power supply of the back electromotive force of the motor that is not rotating under the control of the first control unit is stopped. For example, the motor drive control device of claim 4, wherein the second control unit determines whether the power storage device connected to the motor drive control device can be charged using the recharge controlled by the first control unit. When the power storage device can be charged using the recharge controlled by the first control unit, the power supply of the back electromotive force of the motor that is not rotating under the control of the first control unit is stopped. For example, the motor drive control device of claim 5, wherein the second control unit determines whether the power storage device connected to the motor drive control device can be charged using the recharge controlled by the first control unit. When the power storage device can be charged using the recharging controlled by the first control unit, charging of the back electromotive force of the motor that is not rotating under the control of the first control unit is stopped. For example, the motor drive control device of claim 1, wherein the second control unit determines whether the power storage device connected to the motor drive control device can be charged using the recharge controlled by the first control unit. When the power storage device can be charged using the recharge controlled by the first control unit, the control of the recharge by the first control unit is started. For example, the motor drive control device of claim 6, wherein if the second control unit is in a state capable of charging the power storage device by using the recharge controlled by the first control unit, the control by the first control unit is started. Recharge control. The motor drive control device according to claim 1, wherein the second control unit is in a state where the power storage device connected to the motor drive control device can be charged using the recharge controlled by the first control unit, or After the second control unit is started, power is supplied to the operation panel connected to the motor drive control device. For example, the motor drive control device of claim 1, wherein the auxiliary section includes: a rectifying section that rectifies the voltage of the back electromotive force of the motor that does not rotate under the control of the first control section; and is used to connect the first switch If the voltage rectified by the rectifier unit is equal to or higher than a specific voltage, the first switch is used to supply power to the second control unit from a power storage device connected to the motor drive control device. For example, the motor drive control device of claim 1, wherein the second control unit confirms the state of the power storage device connected to the motor drive control device, and determines whether power can be supplied from the power storage device to the second control unit. If the power supply from the power storage device to the second control unit cannot be performed, its own operation is stopped. For example, if the motor drive control device of item 1 is mentioned above, the second control unit confirms whether the starting of the auxiliary unit is allowed, and if the starting of the auxiliary unit is not allowed, it stops its own operation. An electric auxiliary vehicle having a motor drive control device as claimed in claim 1.